对于具有非线性和跨代理通信延迟的异质多代理采样数据控制系统的共识条件
1Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Daehak-ro 93, Nam-Gu, Ulsan, 680-749, the Republic of Korea.
ISA transactions
|January 22, 2026
概括
本研究涉及使用采样数据控制和通信延迟的异质非线性多代理系统 (MAS) 的共识. 一个新的循环的Lyapunov-Krasovskii功能确保了稳定性,并减少了实际应用的保守主义.
科学领域:
- 控制系统工程 控制系统工程
- 机器人技术 机器人技术 机器人技术
- 网络化系统 网络化系统
背景情况:
- 异质非线性多代理系统 (MAS) 面临的挑战是由于采样数据控制和通信延迟,在达成共识方面.
- 当前的方法在处理这些异质动态和延迟时,经常与计算复杂性和保守主义作斗争.
研究的目的:
- 制定一个强大的控制策略,以在采样数据控制下,在异质非线性MAS中达成共识,并有代理间通信延迟.
- 提出一种新的Lyapunov-Krasovskii功能,有效地处理采样和网络诱导的延迟,同时尽量减少保守主义.
主要方法:
- 引入了一个双面循环的利亚普诺夫-克拉索夫斯基函数来分析系统稳定性.
- 该框架统一异质网络延迟,并区分状态采样和控制更新实时,以减少计算复杂性.
- 进行对性能和计算负载的变量影响的分析.
主要成果:
- 提出的方法有效地解决了异质非线性MAS中的共识问题.
- 减少了保守主义,并通过统一处理延迟和不同的采样/更新时刻来增强可扩展性.
- 模拟证明了在刷式直流电机的多剂系统上的实际可行性.
结论:
- 开发的采样数据控制策略为异质非线性MAS的共识问题提供了可扩展和不那么保守的解决方案.
- 小说循环的利亚普诺夫-克拉索夫斯基函数在管理复杂的延迟动态方面是有效的.
- 该方法已被验证用于实际应用,例如机器人系统协调.
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